The reason of the error is because your code does not initialize the variable ACAD to make it point to a running AutoCAD instance (your code runs inside Excel). That is, ACAD is Nothing. So, the code needs to try to find an existing running AutoCAD instance in the computer, and if not found, try to start AutoCAD. Only after a running AutoCAD instance is obtained, you can go ahead to do something with AutoCAD, in your case, draw lines.
The code would roughly look like:
Sub Access_AutoCAD()
Dim ACAD As AutoCAD.Application
Set ACAD=GetAutoCADInstance()
If ACAD is Nothing Then Exit Sub
''Start to draw lines here
End Sub
Private Function GetAutoCADInstance() As AcadApplication
On Error Resume Next
Dim cad As AcadApplication
Set cad=GetObject(, "AutoCAD.Application")
If cad Is Nothing Then
Set cad=CreateObject("AutoCAD.Application")
End If
Set GetAutoCADInstance=cad
End Function